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Contract Balances (Details) - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2019
Jun. 30, 2018
Dec. 31, 2018
Jan. 01, 2018
Change in Contract with Customer, Asset and Liability [Abstract]        
Revenue recognized that was included in the contract liability balance at the beginning of the period $ 27,701 $ 32,553    
Contract with Customer, Asset and Liability [Abstract]        
Contract assets balance 14,464   $ 9,330 $ 11,932
Contract liabilities - current 37,572   36,461 48,268
Contract liabilities - non-current $ 9,044   $ 9,382 $ 9,916